int
main( int argc, char *argv[] )
{
/* Connect to IPC Server */
carmen_ipc_initialize(argc, argv);
/* Check the param server version */
carmen_param_check_version(argv[0]);
/* Register shutdown cleaner handler */
signal(SIGINT, shutdown_module);
carmen_gps_xyz_define_message();
carmen_xsens_xyz_define_message();
carmen_velodyne_gps_xyz_define_message();
/* Subscribe to sensor messages */
carmen_gps_subscribe_nmea_message(NULL, (carmen_handler_t) ipc_gps_gpgga_handler, CARMEN_SUBSCRIBE_ALL);
carmen_xsens_mtig_subscribe_message(NULL, (carmen_handler_t) xsens_mtig_handler, CARMEN_SUBSCRIBE_ALL);
carmen_velodyne_subscribe_gps_message(NULL, (carmen_handler_t) velodyne_gps_handler, CARMEN_SUBSCRIBE_ALL);
/* Loop forever waiting for messages */
carmen_ipc_dispatch();
return(0);
}
int main(int argc, char **argv)
{
char filename[1024];
char key;
int num_scanned;
/* initialize connection to IPC network */
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
/* open logfile, check if file overwrites something */
if(argc < 2)
carmen_die("usage: %s <logfile>\n", argv[0]);
sprintf(filename, "%s", argv[1]);
outfile = carmen_fopen(filename, "r");
if (outfile != NULL) {
fprintf(stderr, "Overwrite %s? ", filename);
num_scanned = scanf("%c", &key);
if (toupper(key) != 'Y')
exit(-1);
carmen_fclose(outfile);
}
outfile = carmen_fopen(filename, "w");
if(outfile == NULL)
carmen_die("Error: Could not open file %s for writing.\n", filename);
carmen_logwrite_write_header(outfile);
get_logger_params(argc, argv);
if ( !(log_odometry && log_laser && log_robot_laser ) )
carmen_warn("\nWARNING: You are neither logging laser nor odometry messages!\n");
if (log_params)
get_all_params();
register_ipc_messages();
if (log_odometry)
carmen_base_subscribe_odometry_message(NULL, (carmen_handler_t)
base_odometry_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_sonars)
carmen_base_subscribe_sonar_message(NULL, (carmen_handler_t)
base_sonar_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_bumpers)
carmen_base_subscribe_bumper_message(NULL, (carmen_handler_t)
base_bumper_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_arm)
carmen_arm_subscribe_state_message(NULL, (carmen_handler_t)
arm_state_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_pantilt) {
carmen_pantilt_subscribe_scanmark_message (NULL, (carmen_handler_t)
pantilt_scanmark_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_pantilt_subscribe_laserpos_message (NULL, (carmen_handler_t)
pantilt_laserpos_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_robot_laser) {
carmen_robot_subscribe_frontlaser_message(NULL, (carmen_handler_t)
robot_frontlaser_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_robot_subscribe_rearlaser_message(NULL, (carmen_handler_t)
robot_rearlaser_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_laser) {
carmen_laser_subscribe_laser1_message(NULL, (carmen_handler_t)
laser_laser1_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser2_message(NULL, (carmen_handler_t)
laser_laser2_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser3_message(NULL, (carmen_handler_t)
laser_laser3_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser4_message(NULL, (carmen_handler_t)
laser_laser4_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser5_message(NULL, (carmen_handler_t)
laser_laser5_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_localize) {
carmen_localize_subscribe_globalpos_message(NULL, (carmen_handler_t)
localize_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_simulator) {
carmen_simulator_subscribe_truepos_message(NULL, (carmen_handler_t)
carmen_simulator_truepos_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_imu) {
carmen_imu_subscribe_imu_message(NULL, (carmen_handler_t)
imu_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_gps) {
carmen_gps_subscribe_nmea_message( NULL,
(carmen_handler_t) ipc_gps_gpgga_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_gps_subscribe_nmea_rmc_message( NULL,
(carmen_handler_t) ipc_gps_gprmc_handler,
CARMEN_SUBSCRIBE_ALL );
}
if (log_motioncmds) {
carmen_robot_subscribe_vector_move_message( NULL,
(carmen_handler_t) robot_vector_move_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_robot_subscribe_follow_trajectory_message( NULL,
(carmen_handler_t) robot_follow_trajectory_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_robot_subscribe_velocity_message( NULL,
(carmen_handler_t) robot_velocity_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_base_subscribe_velocity_message( NULL,
(carmen_handler_t) base_velocity_handler,
CARMEN_SUBSCRIBE_ALL );
}
carmen_logger_subscribe_comment_message( NULL,
(carmen_handler_t) logger_comment_handler,
CARMEN_SUBSCRIBE_ALL );
signal(SIGINT, shutdown_module);
logger_starttime = carmen_get_time();
carmen_ipc_dispatch();
return 0;
}
void
initialize_module_args(int argc, char **argv)
{
// verifica se os parametros
// foram passados corretamente
if (argc < 2)
{
printf("Use: \n %s [bumblebee | gps | fused_odometry | kinect] [<output_path>]\n\n", argv[0]);
printf("\nOBS: output_path must be used if sensor is bumblebee or kinect.\n\n");
exit(-1);
}
char *sensor = argv[1];
// se o sensor escolhido foi a bumblebee
if (!strcmp(sensor, "bumblebee"))
{
if (argc < 3)
{
printf("\nError: You must set the output path for images!\n\n");
exit(-1);
}
output_dir_name = argv[2];
if (argc == 4)
{
if (!strcmp(argv[3], "with_gps"))
{
carmen_gps_xyz_subscribe_message(NULL, (carmen_handler_t) gps_xyz_message_handler, CARMEN_SUBSCRIBE_ALL);
gps_xyz_output_file = fopen(gps_xyz_output_filename, "w");
fprintf(gps_xyz_output_file, "timestamp,x,y\n");
}
else if (!strcmp(argv[3], "with_odometry"))
{
carmen_base_ackerman_subscribe_odometry_message(NULL, (carmen_handler_t) car_odometry_message_handler, CARMEN_SUBSCRIBE_ALL);
carmen_xsens_subscribe_xsens_global_quat_message(NULL, (carmen_handler_t) xsens_mti_message_handler, CARMEN_SUBSCRIBE_ALL);
car_odometry_output_file = fopen(car_odometry_output_filename, "w");
}
}
carmen_bumblebee_basic_subscribe_stereoimage(1, NULL, (carmen_handler_t) bumblebee_basic_handler_1, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(2, NULL, (carmen_handler_t) bumblebee_basic_handler_2, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(3, NULL, (carmen_handler_t) bumblebee_basic_handler_3, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(4, NULL, (carmen_handler_t) bumblebee_basic_handler_4, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(5, NULL, (carmen_handler_t) bumblebee_basic_handler_5, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(6, NULL, (carmen_handler_t) bumblebee_basic_handler_6, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(7, NULL, (carmen_handler_t) bumblebee_basic_handler_7, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(8, NULL, (carmen_handler_t) bumblebee_basic_handler_8, CARMEN_SUBSCRIBE_ALL);
carmen_bumblebee_basic_subscribe_stereoimage(9, NULL, (carmen_handler_t) bumblebee_basic_handler_9, CARMEN_SUBSCRIBE_ALL);
return;
}
// se o sensor escolhido foi o gps
else if (!strcmp(sensor, "gps"))
{
carmen_gps_subscribe_nmea_message(NULL, (carmen_handler_t) gps_gpgga_handler, CARMEN_SUBSCRIBE_ALL);
gps_gpgga_output_file = fopen(gps_gpgga_output_filename, "w");
return;
}
// se o sensor escolhido foi o fused_odometry
else if (!strcmp(sensor, "fused_odometry"))
{
carmen_fused_odometry_subscribe_fused_odometry_message(NULL, (carmen_handler_t) fused_odometry_handler, CARMEN_SUBSCRIBE_ALL);
fused_odometry_output_file = fopen(fused_odometry_output_filename, "w");
return;
}
else if (!strcmp(sensor, "kinect"))
{
if (argc < 3)
{
printf("\nError: You must set kinect output_path!\n\n");
exit(-1);
}
output_dir_name = argv[2];
initialize_m_gamma ();
carmen_kinect_subscribe_depth_message(0, NULL, (carmen_handler_t) kinect_depth_handler, CARMEN_SUBSCRIBE_ALL);
carmen_kinect_subscribe_video_message(0, NULL, (carmen_handler_t) kinect_video_handler, CARMEN_SUBSCRIBE_ALL);
return;
}
else if (!strcmp(sensor, "web_cam"))
{
if (argc < 3)
{
printf("\nError: You must set web_cam output_path!\n\n");
exit(-1);
}
output_dir_name = argv[2];
carmen_web_cam_subscribe_message (NULL, (carmen_handler_t) carmen_web_cam_message_handler, CARMEN_SUBSCRIBE_ALL);
return;
}
else if (!strcmp(sensor, "stereo"))
{
if (argc < 3)
{
printf("\nError: You must set images output_path!\n\n");
exit(-1);
}
output_dir_name = argv[2];
carmen_stereo_subscribe(1, NULL, (carmen_handler_t) stereo_handler_1, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(2, NULL, (carmen_handler_t) stereo_handler_2, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(3, NULL, (carmen_handler_t) stereo_handler_3, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(4, NULL, (carmen_handler_t) stereo_handler_4, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(5, NULL, (carmen_handler_t) stereo_handler_5, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(6, NULL, (carmen_handler_t) stereo_handler_6, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(7, NULL, (carmen_handler_t) stereo_handler_7, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(8, NULL, (carmen_handler_t) stereo_handler_8, CARMEN_SUBSCRIBE_ALL);
carmen_stereo_subscribe(9, NULL, (carmen_handler_t) stereo_handler_9, CARMEN_SUBSCRIBE_ALL);
return;
}
}
